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Abstract:

The invention relates to a method for setting up a control, and to a
control for a technical orthopedic device, and a technical orthopedic
device as such. Actuations of the technical orthopedic device (1) are
provided by means of an output device (2, 3), biomettric signals are
received by sensors (12), and said signals are associated with the
respective actuations.

Claims:

1. A method for setting up a control of a technical orthopedic device,
which is placed against a body part of a patient and connected to sensors
recording biometric data of the patient, the method comprising the
following steps: outputting a representation of an actuation of a limb as
an invitation to the patient to carry out this actuation; capturing
biometric signals that are produced by the patient after the invitation
as a voluntary reaction; associating the produced signals with the
actuation carried out; storing the signal association.

2. The method as claimed in claim 1, characterized in that the technical
orthopedic device (1) is applied to a body part of the patient and
embodied as a prosthesis, orthosis, training equipment or stimulation
device.

3. The method as claimed in claim 1 or 2, characterized in that the
representation is output in an acoustic and/or tactile fashion and/or on
a display.

4. The method as claimed in one of the preceding claims, characterized in
that data is recorded by sensors, which are arranged on the skin surface
or implanted into the patient.

5. The method as claimed in one of the preceding claims, characterized in
that the technical orthopedic device is activated by putting one or more
drives into operation.

6. The method as claimed in one of the preceding claims, characterized in
that the activation is brought about by electro-stimulation of muscles
connected to the actuation.

7. The method as claimed in one of the preceding claims, characterized in
that different actuations are output in succession.

8. The method as claimed in one of the preceding claims, characterized in
that each actuation is output a number of times and a signal range is
formed from the associated signals, with an activation signal having to
lie in said signal range in order to trigger the activation of the
associated actuation.

9. A method for controlling a technical orthopedic device, in which the
control was set up as claimed in one of the preceding claims,
characterized in that sensor signals captured after the set-up are
compared to the stored signal association and the technical orthopedic
device (1) is activated to carry out the actuation associated with the
signal if a correspondence is determined between the captured signals and
the stored signal association.

10. A technical orthopedic device for carrying out the methods as claimed
in one of the preceding claims, with attachment means for fixing it to a
body part, at least one actuator, at least one sensor device and a
control device, characterized in that an output device (2, 3) is arranged
on the technical orthopedic device (1), which output device outputs
representations of actuations that should be carried out by the patient
or the technical orthopedic device.

11. The technical orthopedic device as claimed in claim 10, characterized
in that the output device is designed as a display (3), sensory
stimulator and/or loudspeaker (2).

12. The technical orthopedic device as claimed in claim 10 or 11,
characterized in that the actuator is designed as a motor and/or as a
muscle-stimulating device.

13. The technical orthopedic device as claimed in one of claims 10 to 12,
characterized in that it is designed as an orthosis, prosthesis,
functional textile or training equipment.

14. The technical orthopedic device as claimed in one of claims 10 to 13,
characterized in that the sensors are embodied as collector and/or
stimulation electrodes.

Description:

[0001] The invention relates to a method for setting up a control of a
technical orthopedic device, which is placed against a body part of a
patient and connected to sensors recording biometric data of a patient, a
control of the technical orthopedic device, and also a technical
orthopedic device as such.

[0002] Driven technical orthopedic devices, such as prostheses or
orthoses, require control signals so that the motor-driven drives operate
as desired. By way of example, these control signals are produced via
collector electrodes, which record myoelectric signals, which, after a
possibly required amplification by a control device, are used as impulses
for activating drives. The conventional method for associating the
myoelectric signals with the respective drives consists of associating an
electrode with individual muscles or muscle groups and associating a
command for activating or deactivating a drive with each myoelectric
signal generated by said muscle group. So as to be able to operate the
technical orthopedic device, e.g. the prosthesis, correctly, a great deal
of training is generally required so that the user of the technical
orthopedic device produces the correct control command by activating the
applicable muscles or muscle groups. The method, which, in principle, is
comparable, emerges during the use of implanted electrodes, with
implanted electrodes making it possible to implement a greater number of
signals and hence a greater number of control channels. In the case of a
prosthetic application, the result of this is that, in order to carry out
particular commands, muscles or muscle groups, which would not be
activated in the case of healthy limbs, need to be activated. The muscle
groups required to close a hand are predominantly situated in the
forearm; if no forearm muscles are present anymore, the corresponding
signals must be produced by other muscle groups, which means
comprehensive relearning for the user, requiring extraordinary amounts of
time and much practice.

[0003] An object of the present invention is to provide a method for
setting up a control of a technical orthopedic device, a control for a
technical orthopedic setting and also a technical orthopedic device as
such, by means of which the technical orthopedic device can be operated
more quickly and more easily using biometric data recorded by sensors.

[0004] According to the invention, this object is achieved by a method
having the features of the main claim, a method having the features of
claim 9 and a technical orthopedic device having the features of claim
10. Advantageous embodiments and developments of the invention are listed
in the respective dependent claims.

[0005] The method for setting up a control of a technical orthopedic
device, which is placed against a body part of a patient and connected to
sensors recording biometric data, at first provides for outputting a
representation of an actuation of a limb in order thereby to invite a
patient to carry out this actuation. Thus, the patient is actively urged
to carry out a specific movement that can be carried out by the technical
orthopedic device. The patient then carries out the movement in a virtual
fashion; i.e., the patient activates those muscle groups that should
individually be contracted or relaxed by the patient for carrying out the
natural movement. The biometric signals, e.g. muscle contractions or
electrical impulses in the tracts of nerves, which are produced by the
patient after the invitation as a willing, voluntary reaction, are
captured by the sensors and associated with the activity carried out.
Here, the association is with that actuation that the patient was invited
to carry out. This signal association between the produced signals and
the actuation carried out and to be carried out is stored. In this
claimed method, the control is no longer set up in a rigid fashion where
the patient must activate precisely the one muscle that is associated
with the respective actuation; rather, there is an individual association
between the signals and the respective actuation. The problem addressed
by this method is that of possible changes in myoelectric signal patterns
over time, for example as a result of muscular atrophy or other changes
in the muscular system. In the case of conventional methods, it is
necessary to subject the patient to new training so that precisely one
muscle or muscle activation signal is filtered out for carrying out
precisely one command or function. The claimed method renders it possible
to carry out signal pattern recognition, which is based on a plurality of
sensor values, and so the pattern recognition overall renders it possible
to actuate a larger number of functions than in the case of conventional
methods.

[0006] The method preferably provides for the technical orthopedic device
to be applied to a body part of the patient in order to create a
situation that is as realistic as possible when setting up the control.
In principle, it is also possible that only the sensors are applied to
the respective body part, while the technical orthopedic device, which,
for example, is embodied as a prosthesis, orthosis, as training equipment
or as a stimulation device, is situated at a distance from the patient.
In addition to prosthetics and technical orthopedics, the method can also
be used within the scope of rehabilitation, after an accident or surgery
or other damage to the musculoskeletal system. It is also possible to act
within the scope of an electro-stimulation and also activate muscles by
means of additional impulses as an alternative or in addition to the
activation of drives.

[0007] According to the invention, provision is made for the
representation of the actuation to be carried out to be output in an
acoustic and/or tactile fashion and/or on a display. Each output mode of
a representation has specific advantages. An acoustic representation of
the actuation to be carried out can be perceived without problems in poor
lighting conditions and also by patients with poor vision. A tactile
output renders it possible to output a multiplicity of complex signals in
order to transmit corresponding information to the user. In addition to
vibrations or vibration patterns, it is possible to stimulate the skin of
the user using electrical impulses. It is likewise possible to output
temperature signals, for example by heating or cooling. These signals can
be output very inconspicuously. An indication on a display allows
inconspicuous transmission of information to the patient, and so the
control can also be set up in public without being very conspicuous.
Provision is also made for it to be possible to select the type of
representation. Provision is likewise made for the combination of all
types of representations, and so, in addition to an optical
representation, there is also a tactile and/or acoustic representation of
the actuation to be carried out. The optical representation can either be
brought about in the form of a text message or by a visualization of the
actuation, e.g. by displaying a closing hand, a hand rotation or a
flexing or stretching of a lower leg. It is self-evident that the patient
cannot carry out the actuation as such in the case of a prosthetic
application since the prosthesis serves as a replacement for a missing
limb. Instead of an actual movement, the patient carries out a muscle
contraction or a nerve impulse, which in his opinion and according to his
movement memory, corresponds to that movement that needs to be carried
out for the actuation. This results in a signal pattern that is captured
by the sensors, without an actual movement needing to be carried out.

[0008] A development of the invention provides for the data to be recorded
by sensors, which are arranged on the skin surface or implanted into the
patient. The technical orthopedic device can be activated by putting one
or more drives into operation such that the prosthesis, the orthosis, the
training equipment or the rehabilitation device carries out the desired
movement or the desired actuation in an operating mode of the technical
orthopedic device after recalling a stored signal pattern.

[0009] As an alternative to activating by means of drives or by means of a
drive, or in addition thereto, provision is made for the activation to be
brought about by electro-stimulation of muscles connected to the
actuation. This renders it possible to link specific movement patterns to
specific muscle actuations, and thus learn motions or improve or maintain
coordinative capabilities.

[0010] The method can furthermore provide for different actuations to be
output in succession, and so, for example, an actuation spectrum is
successively prescribed and worked through. Every prescribed actuation,
which is output to the patient via the output device, is associated with
a specific signal or a specific signal pattern. If the signal or signal
pattern is sufficiently unique, the next actuation is output. In the
process, it is possible, and provision is made therefor, that each
actuation be output a number of times in order to obtain confirmation of
the signal or the signal pattern. Provision is likewise made for a signal
range to be formed from the associated signals when the actuation is
output a number of times, with an activation signal having to lie in said
signal range in order to trigger the activation of the associated
actuation. This renders it possible to trigger the desired actuation of
the technical orthopedic device, even in the case of fuzzy signals.
Outputting the invitation in respect of an actuation a number of times in
succession increases the uniqueness of the signal association because
statistical averaging of the signals can be achieved as a result of the
relatively large number of recorded biometric signals, as a result of
which individual outliers are not given undue attention.

[0011] The method for controlling a technical orthopedic device, in which
the control was initially set up as described above, provides for sensor
signals from the sensors captured after the set-up of the control to be
compared to the stored signal association and the technical orthopedic
device to be activated to carry out the actuation associated with the
signal if sufficient correspondence is determined between the captured
signals and the stored signal association. This renders it possible to
operate a technical orthopedic device in which the control adapts to the
respective current needs and conditions of the patient. This affords the
possibility of taking account of current changes in the movement
behaviour or in the activation properties of the muscles, remaining
muscles or the biometric variables associated with the sensors. Rather
than train a patient in respect of a fixed control, the control is
adapted to the respective patient. A multiplicity of sensors renders it
possible to capture a very wide range of sensor signal patterns, and so
control is possible by initiating partly complex, virtual movements,
which, for example in the case of amputations, must remain without actual
effects on the actuation to be carried out.

[0012] The technical orthopedic device for carrying out the methods as
claimed in one of the preceding claims, with attachment means for
attaching it to a body part, at least one actuator, at least one sensor
device and a control device, provides for an output device to be arranged
on the technical orthopedic device, which output device outputs
representations of actuations of the technical orthopedic device that
should be carried out by the patient or the technical orthopedic device.
The output device can be fixedly installed on the technical orthopedic
device or be attached to the latter in a releasable fashion. In
principle, it is also possible merely to connect the technical orthopedic
device to the output device when necessary, for example by cables or a
radio link, so that the technical orthopedic device as such can have the
smallest and lightest design possible.

[0013] The output device is preferably designed as a display, sensory
stimulator and/or loudspeaker and can be arranged on the technical
orthopedic device either as a fixed or temporary component. A sensory
stimulator is understood to mean devices, by means of which sensory
perceptions can be generated, for example tactile agents that produce a
vibration pattern or a pressure or pressure pattern. It is also possible
to use warmth and coldness, electrical impulses or other surface
responses as an output device. In principle, provision is made for the
output device to be designed as a component of the technical orthopedic
device; that is to say e.g. the prosthesis, orthosis, a functional
textile, the rehabilitation equipment or the training equipment.

[0014] The actuator can be designed as a motor and/or as a
muscle-stimulating device. A motor-driven drive is provided in the case
of prostheses and devices, when the muscles can develop no, or only very
little, power; an alternative or additional muscle-stimulating device in
the form of electrodes that bring about a contraction of the
corresponding muscles can be provided in order to produce a training
effect or to amplify the latter or to obtain therapeutic successes.

[0015] The sensors for capturing biometric data can be designed as
collector electrodes and/or stimulation electrodes; it is likewise
possible to provide intracorporeal electrodes or to capture the biometric
data in a different fashion.

[0016] In the following text, an exemplary embodiment of the invention
will be explained in more detail on the basis of the attached figures.

[0017] In detail:

[0018] FIG. 1 shows a perspective, schematic illustration of a first
embodiment of the technical orthopedic device; and

[0019] FIG. 2 shows a variant of the embodiment as per FIG. 1.

[0020] FIG. 1 shows a perspective, schematic illustration of a forearm
prosthesis 1 with a forearm shaft 10 and a prosthetic hand 11 at the
distal end of the forearm shaft 10. Provision can be made within the
forearm shaft 10 for control devices, energy storages and motor-driven
drives for actuating the prosthetic hand 11; it is likewise possible, and
provision is made therefor, that at least some of this equipment is also
arranged in the prosthetic hand 11. The prosthetic hand 11 as a whole can
be moved in the region of the wrist, with both external rotation and
internal rotation, and also flexion and extension, of the prosthetic hand
11 being possible. The fingers of the prosthetic hand 11 can likewise be
embodied in an actuatable fashion, particularly the thumbs and index and
middle fingers so that the essential types of grip can be carried out.

[0021] On the prosthetic shaft 10 in the illustrated embodiment, collector
electrodes 12 are also arranged on the proximal, open end of the forearm
shaft 10. These sensors 12 record biometric data, myoelectric signals in
the present case, which are transmitted by said sensors to the control
electronics (not illustrated) for actuating the drives. In principle, it
is also possible that other sensors are provided, the signals of which
are then sent to the control electronics via cables or a radio link.

[0022] An output device 2 in the form of a loudspeaker is arranged on the
outside of the prosthetic shaft 10 in FIG. 1; this loudspeaker is used to
invite the prosthesis user to produce a specific pattern of biometric
data signals. The invitation is brought about by virtue of the fact that
the actuation of the prosthetic device 1 to be carried out is reproduced,
for example by the acoustic representation "close hand" or "open hand".
After outputting the actuation to be carried out by the prosthesis, the
sensor signal or sensor pattern of a plurality of sensors is recorded in
a learn mode, and these recorded sensor signals or sensor patterns are
associated with the respective actuation. This procedure is repeated for
each actuation until there is sufficient uniqueness of the sensor signal
or the sensor signal pattern. Once all possible or desired actuations are
associated with a sensor signal or sensor signal pattern, the learn mode
is completed. Then, in an activation mode, the actuations are carried out
by the prosthetic hand if the signal pattern associated with the
respective actuation is captured by the sensors 12 and evaluated in the
control unit.

[0023] Individual adaptation of the control by means of the sensor signals
from the respective patient is thus undertaken every time the control is
set up, for example every time the prosthesis 1 is put on again. This
makes it easy to understand changes in the patient such that the control
adapts to the patient and the patient need not adapt to the control.

[0024] The acoustic output device 2, which is designed as a speech module
or loudspeaker, can be fixedly connected to the prosthesis shaft 10;
alternatively, the output device 2 can be arranged on the prosthesis
shaft 10 in a removable fashion.

[0025] FIG. 2 illustrates a variant of the invention, in which the basic
design of the prosthesis device 1 corresponds to the one in FIG. 1.
Instead of a loudspeaker of the 2 as output device, a display 3 is
arranged in the prosthesis shaft 1, and so there is an optical
representation instead of an acoustic representation of the actuation. By
way of example, this representation can be brought about by a text
display or images or film representations. Here too, provision is made
for the display 3 to be attached to the prosthesis shaft 10 in a
removable fashion. In principle, it is also possible to combine acoustic
and optical output devices 2, 3 with one another; it is also possible,
and provision is made therefor, that a switch can be made between the
various display types.